improve both ecx_statecheck and ecx_readstate
- in ecx_statecheck only one iteration is done through the slave list if needed - in ecx_readstate only one datagram is used if possible
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MagnaboscoAndrea
parent
3be652a0e0
commit
298397bcc3
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@ -756,45 +756,96 @@ int ecx_FPRD_multi(ecx_contextt *context, int n, uint16 *configlst, ec_alstatust
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*/
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int ecx_readstate(ecx_contextt *context)
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{
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uint16 slave, fslave, lslave, configadr, lowest, rval;
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uint16 slave, fslave, lslave, configadr, lowest, rval, bitwisestate;
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ec_alstatust sl[MAX_FPRD_MULTI];
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uint16 slca[MAX_FPRD_MULTI];
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boolean noerrorflag, allslavessamestate;
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lowest = 0xff;
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context->slavelist[0].ALstatuscode = 0;
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fslave = 1;
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do
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/* Try to establish the state of all slaves sending only one broadcast datargam.
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* This way a number of datagrams equal to the number of slaves will be sent only if needed.*/
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rval = 0;
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ecx_BRD(context->port, 0, ECT_REG_ALSTAT, sizeof(rval), &rval, EC_TIMEOUTRET);
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rval = etohs(rval);
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bitwisestate = (rval & 0x0f);
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if ((rval & EC_STATE_ERROR) == 0)
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{
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lslave = *(context->slavecount);
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if ((lslave - fslave) >= MAX_FPRD_MULTI)
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{
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lslave = fslave + MAX_FPRD_MULTI - 1;
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}
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for (slave = fslave; slave <= lslave; slave++)
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{
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const ec_alstatust zero = {0, 0, 0};
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noerrorflag = TRUE;
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context->slavelist[0].ALstatuscode = 0;
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}
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else
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{
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noerrorflag = FALSE;
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}
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configadr = context->slavelist[slave].configadr;
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slca[slave - fslave] = configadr;
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sl[slave - fslave] = zero;
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}
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ecx_FPRD_multi(context, (lslave - fslave) + 1, &(slca[0]), &(sl[0]), EC_TIMEOUTRET3);
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for (slave = fslave; slave <= lslave; slave++)
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switch (bitwisestate)
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{
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case EC_STATE_INIT:
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case EC_STATE_PRE_OP:
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case EC_STATE_BOOT:
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case EC_STATE_SAFE_OP:
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case EC_STATE_OPERATIONAL:
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allslavessamestate = TRUE;
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context->slavelist[0].state = bitwisestate;
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break;
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default:
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allslavessamestate = FALSE;
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break;
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}
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if (noerrorflag && allslavessamestate)
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{
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/* No slave has toggled the error flag so the alstatuscode
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* (even if different from 0) should be ignored and
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* the slaves have reached the same state so the internal state
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* can be updated without sending any datagram. */
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for (slave = 1; slave <= *(context->slavecount); slave++)
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{
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configadr = context->slavelist[slave].configadr;
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rval = etohs(sl[slave - fslave].alstatus);
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context->slavelist[slave].ALstatuscode = etohs(sl[slave - fslave].alstatuscode);
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if ((rval & 0xf) < lowest)
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context->slavelist[slave].ALstatuscode = 0x0000;
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context->slavelist[slave].state = bitwisestate;
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}
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lowest = bitwisestate;
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}
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else
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{
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/* Not all slaves have the same state or at least one is in error so one datagram per slave
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* is needed. */
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context->slavelist[0].ALstatuscode = 0;
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lowest = 0xff;
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fslave = 1;
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do
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{
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lslave = *(context->slavecount);
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if ((lslave - fslave) >= MAX_FPRD_MULTI)
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{
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lowest = (rval & 0xf);
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lslave = fslave + MAX_FPRD_MULTI - 1;
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}
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context->slavelist[slave].state = rval;
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context->slavelist[0].ALstatuscode |= context->slavelist[slave].ALstatuscode;
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}
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fslave = lslave + 1;
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} while(lslave < *(context->slavecount));
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context->slavelist[0].state = lowest;
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for (slave = fslave; slave <= lslave; slave++)
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{
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const ec_alstatust zero = { 0, 0, 0 };
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configadr = context->slavelist[slave].configadr;
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slca[slave - fslave] = configadr;
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sl[slave - fslave] = zero;
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}
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ecx_FPRD_multi(context, (lslave - fslave) + 1, &(slca[0]), &(sl[0]), EC_TIMEOUTRET3);
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for (slave = fslave; slave <= lslave; slave++)
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{
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configadr = context->slavelist[slave].configadr;
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rval = etohs(sl[slave - fslave].alstatus);
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context->slavelist[slave].ALstatuscode = etohs(sl[slave - fslave].alstatuscode);
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if ((rval & 0xf) < lowest)
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{
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lowest = (rval & 0xf);
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}
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context->slavelist[slave].state = rval;
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context->slavelist[0].ALstatuscode |= context->slavelist[slave].ALstatuscode;
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}
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fslave = lslave + 1;
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} while (lslave < *(context->slavecount));
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context->slavelist[0].state = lowest;
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}
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return lowest;
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}
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@ -851,37 +902,71 @@ uint16 ecx_statecheck(ecx_contextt *context, uint16 slave, uint16 reqstate, int
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{
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uint16 bitwisestate;
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uint16 slaveindex;
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boolean allslavessamestate;
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boolean noerrorflag;
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rval = 0;
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ecx_BRD(context->port, 0, ECT_REG_ALSTAT, sizeof(rval), &rval , EC_TIMEOUTRET);
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rval = etohs(rval);
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bitwisestate = (rval & 0x0f);
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if((rval & 0xf0) == 0)
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if ((rval & EC_STATE_ERROR) == 0)
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{
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/* No slave has toggled the error flag so the alstatuscode (even if different from 0) should be ignored */
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for(slaveindex = 1; slaveindex <= *(context->slavecount); slaveindex++)
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{
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context->slavelist[slaveindex].ALstatuscode = 0x0000;
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}
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noerrorflag = TRUE;
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context->slavelist[0].ALstatuscode = 0;
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}
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else
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{
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noerrorflag = FALSE;
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}
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switch(bitwisestate)
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switch (bitwisestate)
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{
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case EC_STATE_INIT:
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case EC_STATE_PRE_OP:
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case EC_STATE_BOOT:
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case EC_STATE_SAFE_OP:
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case EC_STATE_OPERATIONAL:
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/* All the slaves have reached the same state so we can update the state of every slave */
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for(slaveindex = 1; slaveindex <= *(context->slavecount); slaveindex++)
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{
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context->slavelist[slaveindex].state = bitwisestate;
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}
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allslavessamestate = TRUE;
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break;
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default:
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allslavessamestate = FALSE;
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break;
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}
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}
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if (noerrorflag || allslavessamestate)
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{
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if (noerrorflag && allslavessamestate)
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{
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/* No slave has toggled the error flag so the alstatuscode
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* (even if different from 0) should be ignored and
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* the slaves have reached the same state so the internal state
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* can be updated without sending any datagram. */
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for (slaveindex = 1; slaveindex <= *(context->slavecount); slaveindex++)
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{
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context->slavelist[slaveindex].ALstatuscode = 0x0000;
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context->slavelist[slaveindex].state = bitwisestate;
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}
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}
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else if (noerrorflag)
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{
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/* No slave has toggled the error flag so the alstatuscode
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* (even if different from 0) should be ignored. */
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for (slaveindex = 1; slaveindex <= *(context->slavecount); slaveindex++)
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{
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context->slavelist[slaveindex].ALstatuscode = 0x0000;
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}
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}
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else
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{
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/* All the slaves have reached the same state therefore
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* the internal state can be updated without sending any datagram. */
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for (slaveindex = 1; slaveindex <= *(context->slavecount); slaveindex++)
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{
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context->slavelist[slaveindex].state = bitwisestate;
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}
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}
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}
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}
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else
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{
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